The cameras mounted on our platform have fisheye lenses. Hence, we extracted the curb points by doing a fish-eye projection [1]} of the fused lidar points in image space and chose points closer to the curb pixels within a bound of \(\pm \) 3 pixels. Finally, the curb points are re-projected back to the base frame \(\mathtt {{B}}\) . The results of curb extraction from semantic association can be visualized in fig:lidarreprojection.
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